抄録
The robot is trying to increase the output for a performance-enhancing, in the case of rigid actuator such as a motor or hydraulic actuator, there is a tendency that the weight is also increased. On the other hand, organisms such as human beings, have gained a high output by a short time to accumulate and release the elastic energy in the muscle (instantaneous force). Also controls the use output and overall movement the nature of a variable viscoelastic with the muscle. Therefore, in this study, we developed a manipulator with a 2-DOF variable viscoelastic joint using a straight-fiber-type artificial muscle and magnetorheological (MR) brake. Then, we take up throwing operation as an example of motion utilizing the instantaneous force and intend to control the subsequent movement from the occurrence of the instantaneous force. In this paper, it confirmed utility of a simple model of 2-DOF variable viscoelastic manipulator constructed and the viscosity control of the apparent by MR brakes.
